Robert Downey Jr. on getting closure with ex Sarah Jessica Parker: I was 'absolutely' in love with her

Though he wasn't up for discussing the past when he walked out on an uncomfortableAvengers: Age of Ultron interview last week, Robert Downey Jr. was more than happy to get super-personal in a new interview with Howard Stern.

Appearing on Stern's SiriusXM channel, the 50-year-old actor talked about a recent meaningful visit with his ex-girlfriend, actress Sarah Jessica Parker. The two dated from 1984 until 1991, and Robert told Stern last October that he wanted to see the Sex and the City star the next time he was in New York City.

"You know how life goes, and so many things happen ... When you're not a kid anymore you go, 'This trip to New York, instead of doing what's required of me, I actually want to take care of some personal business,'" he said about his motivation to see SJP. "I want to check in with someone I shared a big part of my life with and say 'Hi.'"

When Stern asked candidly if he was ever in love with her, Robert didn't hesitate.

"Absolutely," he said.

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Sarah Jessica Parker and Robert Downey Jr.

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Robert Downey Jr. on getting closure with ex Sarah Jessica Parker: I was 'absolutely' in love with her

LONDON - MAY 10: Robert Downey Jr. and Sarah Jessica Parker attend the London premiere of 'L.A. Story' on May 10, 1991 in London, Great Britain. (Photo by Tom Wargacki/WireImage)

CENTURY CITY, CA - OCTOBER 3: Actress Sarah Jessica Parker and actor Robert Downey, Jr. attend the 'Avalon' Century City Premiere on October 3, 1990 at Cineplex Odeon Century Plaza Cinemas in Century City, California. (Photo by Ron Galella, Ltd./WireImage)

MALIBU, CA - JUNE 24: Actress Sarah Jessica Parker and actor Robert Downey, Jr. attend the Second Annual Earth Communications Office (ECO) Conference Presentation of 'The Role of Biosphere 2 in Relation to Biosphere 1' on June 24, 1990 at Rambla Pacifico in Malibu, California. (Photo by Ron Galella, Ltd./WireImage)

LOS ANGELES - JUNE 14: Actress Sarah Jessica Parker and actor Robert Downey, Jr. attend the ABC Television Affiliates Party on June 14, 1990 at Century Plaza Hotel in Los Angeles, California. (Photo by Ron Galella, Ltd./WireImage)

The Iron Man actor revealed that he ended up going to Sarah's home, then went to dinner at a nearby tapas restaurant with her and her friend. Clearly, he's now had some time to reflect on the meaningfulness of the visit.

"You know, you always have this impression of someone you spent a big chunk of your life with ... and I think the further you get away from that in your new relationship, you sub-intentionally taint your perception of the person," he mused. "And seeing her I was like, she's so great and so cool and so funny and in command, and I got to meet her kids and I saw the way that she and [her husband] Matthew lived, and I respect both of them so much."

And did he get any closure?

"I said everything I want to say," he stressed.

Robert also insisted that there was no awkwardness between the two exes despite their seven-year relationship.

"There's this familiarity that overtakes it, and you just realize that you're just in the presence of this fully mature mother and woman and artist and human being, and there's enough good will left over," he said. "You didn't burn that bridge."

Lots of things have definitely changed for Robert since ET's interview with the actor all the way back in 1987. Check out the flashback video below to see a then incredibly bashful Robert at just 22 years old.